U.S. patent application number 10/541352 was filed with the patent office on 2006-03-09 for multiple insertion head.
This patent application is currently assigned to SIEMENS AKTIENGESELLSCHATF. Invention is credited to Gerhard Jonke, Reinhard Pittschellis, Rudolf Schmid, Uwe Stadler, Michele Trigiani.
Application Number | 20060048378 10/541352 |
Document ID | / |
Family ID | 32747489 |
Filed Date | 2006-03-09 |
United States Patent
Application |
20060048378 |
Kind Code |
A1 |
Jonke; Gerhard ; et
al. |
March 9, 2006 |
Multiple insertion head
Abstract
The invention relates to a multiple insertion head for mounting
components (300) onto substrates, said insertion head comprising a
carrier (200) which is arranged in such a way that it can rotate
about a rotational axis (D) and is provided with a plurality of
receiving tools (210) that are arranged in such a way that they can
be displaced in a mounting direction at an angle to the rotational
axis (D), said receiving tools being used to receive the components
(300). Each receiving tool (210) is provided with at least one
active drive and/or sensor, ensuring that the components (300) are
rapidly positioned with the highest precision.
Inventors: |
Jonke; Gerhard; (Gilching,
DE) ; Pittschellis; Reinhard; (Deizisau, DE) ;
Schmid; Rudolf; (Eichenau, DE) ; Stadler; Uwe;
(Olching, DE) ; Trigiani; Michele; (Munchen,
DE) |
Correspondence
Address: |
SIEMENS SCHWEIZ;I-44, INTELLECTUAL PROPERTY
ALBISRIEDERSTRASSE 245
ZURICH
CH-8047
CH
|
Assignee: |
SIEMENS AKTIENGESELLSCHATF
P.C. BOX 221634
MUNI8CH
DE
D-80506
|
Family ID: |
32747489 |
Appl. No.: |
10/541352 |
Filed: |
January 19, 2004 |
PCT Filed: |
January 19, 2004 |
PCT NO: |
PCT/EP04/00352 |
371 Date: |
July 5, 2005 |
Current U.S.
Class: |
29/739 ;
29/743 |
Current CPC
Class: |
Y10T 29/53174 20150115;
Y10T 29/53178 20150115; Y10T 29/4913 20150115; H05K 13/041
20180801; Y10T 29/53191 20150115 |
Class at
Publication: |
029/739 ;
029/743 |
International
Class: |
B23P 19/00 20060101
B23P019/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 24, 2003 |
DE |
103-02-802.1 |
Claims
1. A multiple insertion head for mounting components onto
substrates, comprising a carrier arranged such that it can rotate
about a rotational axis, and a plurality of receiving tools
arranged such that they can be moved in a mounting direction at an
angle to the rotational axis; the receiving tools being arranged on
the carrier and arranged so as to receive the components, such that
each receiving tool is provided with at least one of an active
drives and sensor.
2. Multiple insertion head according to claim 1, with each
receiving tool (210) having its own rotary drive (228) by means of
which received components (300) can in each case be rotated about a
tool axis (215) arranged at an angle to the rotational axis (D) of
the multiple insertion head.
3. The insertion head according to claim 1, wherein each receiving
tool comprises a vacuum generators.
4. The multiple insertion head according to claim 3, wherein vacuum
generators comprises a Venturi tubes and the carrier comprises a
hollow shaft running coaxially to the rotational axis to which the
receiving tools are fitted such that compressed air can be conveyed
through the hollow shaft of the carrier to the Venturi tubes.
5. The multiple insertion head according to claim 3, wherein the
Venturi tubes is connected to a regulator to control pressure.
6. The multiple insertion head according to claim 1, further
comprising a blast air vacuum device arranged in a receiving
mounting position of one of the receiving tools, the vacuum device
further arranged such that therein components can be received or
mounted by means of the receiving tool located in the receiving
mounting position, the receiving tool being connected such that an
additional vacuum can be applied or generated to the receiving
tools for receiving the components or in addition a blast air
impulse while mounting the components in the receiving tool located
in the receiving mounting position.
7. The multiple insertion head according to claim 1, wherein each
receiving tools comprises a tool shaft embodied as a hollow shaft
running coaxially to the tool axis and a rotary sensor arranged so
as to detect an angle position of the tool shaft.
8. The multiple insertion head according to claim 7, wherein each
tool shafts comprises a vacuum pipette at a distal end range.
9. The multiple insertion head according to claim 1, further
comprising a rotationally symmetrical energy and data transmission
device arranged between the carrier and a housing of the multiple
insertion head, the transmission device arranged such that at least
one of active drives and sensors can be supplied with energy and by
which the data from the sensors and the data to the sensors can be
transmitted with a first transmitter part being permanently fitted
to the housing of the multiple insertion head and a second
transmitter part being permanently fitted to the carrier in such a
way that it can rotate.
10. The multiple insertion head according to claim 9, wherein the
transmission device comprises at least one slip ring.
11. The multiple insertion head according to claim 9, wherein the
data transmission device comprises one pair of electromagnetic
transmitters and one pair of capacitive transmitters arranged
rotationally symmetrical around the rotational axis of the multiple
insertion head and by means of which there is non-contact
transmission of both the energy and the data.
12. The multiple insertion head according to claim 11, wherein the
capacitive transmitter comprises a plate-shaped antenna in the
first transmitter part and in the second transmitter part the first
transmitter part the electromagnetic transmitter comprises a
circular magnetically conductive body with a u-shaped cross section
open in the direction of the carrier, and a circular magnetically
conductive body in the second transmitter part comprising a
rectangular cross section which is arranged in such a way in the
opening of the first transmitter part that the direction of the
magnetic field used for the transmission of energy is at right
angles to the direction of the electrical field used for the
transmission of data.
13. The multiple insertion head according to claim 9, comprising at
least one polished disk arranged on the housing and on the carrier
such that the polished disks are arranged immediately next to each
other so that compressed air and a vacuum can be applied from
external vacuum generators to the active drives of the carrier.
14. The multiple insertion head according to claims I, wherein the
carrier comprises at least one control device arranged so as to
control and/or regulate the active drives and/or sensors.
15. The multiple insertion head according to claim 14, wherein the
control unit comprises at least one digital signal processor by
means of which one or a plurality of the active drives or sensors
can be controlled.
16. The multiple insertion head according to claim 1, further
comprising a linear motor arranged such that a receiving tool found
in the receiving mounting position can be moved in the mounting
direction provided that the linear motor is engaged in the
receiving tool.
17. The multiple insertion head according to claim 16, further
comprising an engaging element provided in each receiving tool so
as to engage in an engaging piece of the runner of the linear
motor.
18. The multiple insertion head according to claim 16, further
comprising additional retracting means interacting with the linear
motor by means of which runner of the linear motor is pretensioned
by means of a spring tension against the force of gravity and in
which the pretensioning is compensated for by compressed air when
the insertion head is in operation.
Description
[0001] The invention relates to a multiple insertion head for
mounting components onto substrates.
[0002] Such insertion heads are used particularly in devices for
mounting printed circuit boards with components, said insertion
head comprising at least one multiple insertion head which can be
rotated and is provided with a plurality of tools to carry
components. Devices for mounting are used mainly in SMD
technology.
[0003] Within the scope of automatic placement systems for
electrical components, the so-called "pick-and-place" method is in
widespread use. Said method implies that the components are picked
up individually, centred and positioned and mounted individually
onto printed circuit boards or substrates. Such a process is
carried out for each individual component.
[0004] Multiple insertion heads for the "pick-and-place" method are
for example known from DE 19654172 as well as from EP 315799. Both
the above-mentioned documents in each case publish at least one
multiple insertion head which can be rotated and is provided with a
plurality of receiving tools for components. In order to be able to
carry out the processes such as receiving, centring and positioning
required for the "pick-and-place" method, the respective receiving
tools of the well-known multiple insertion heads are in each case
arranged in such a way that they can be moved in and against a
mounting direction and also positioned in such a way that they can
rotate about a rotational axis.
[0005] For a correct positioning of the electrical components to be
mounted, a precise angle alignment of the components with the
receiving tools is required because otherwise incorrect mounting
takes place.
[0006] For this after receiving the component in the receiving
tool, this component is rotated by means of an external device
until the component to be mounted is in the predetermined angle
position in the receiving tool. For that, in the case of the known
multiple insertion head, a rotational device is required which is
coupled from the outside to the receiving tools and uncoupled again
after the rotation.
[0007] In addition, in the case of the known multiple insertion
heads, a vacuum is often used in order to keep the components to be
mounted in the receiving tools. The vacuum required for this is
generated outside the insertion head and conveyed through vacuum
lines up to the top parts of the receiving tools. This requires a
high vacuum because the lines are very long.
[0008] Therefore, it is the object of the invention to create a
multiple insertion head ensuring that the electrical components are
rapidly positioned with the highest precision onto substrates. This
object of the invention is solved according to the invention by a
multiple insertion head with the features according to claim 1.
Preferred embodiments of the invention are given in the dependent
claims.
[0009] According to the invention, a multiple insertion head for
mounting components onto substrates is created comprising a carrier
which is arranged in such a way that it can rotate about a
rotational axis and is provided with a plurality of receiving tools
that are arranged in such a way that they can be moved in a
mounting direction at an angle to the rotational axis; said
receiving tools being used to receive the components. Each
receiving tool is provided with at least one active drive and/or
sensor.
[0010] This makes it possible to mount components independently of
external actuators, as a result of which the mounting precision is
improved considerably because a coupling or uncoupling of the
external actuators is not necessary.
[0011] In particular, each receiving tool is provided with its own
rotary drive as the active drive by means of which the received
components can in each case be rotated about a tool axis arranged
at an angle to the rotational axis of the carrier. The rotary drive
can, for example, be provided in a unit together with a sensor by
means of which the rotation of the rotary drive and with that the
rotation of the component to be mounted can be detected. That is
how a closed loop control circuit for the rotary motion of the
component to be mounted is created. Because coupling or uncoupling
processes are not required, angle errors of the rotation of the
component to be mounted connected with this, also do not occur. In
addition, the time involved in coupling or uncoupling an external
actuator can be saved.
[0012] According to the invention, each receiving tool can have a
vacuum generator as the active drive for holding the components in
the receiving tools which is, in particular, embodied as a Venturi
tube. In this case, the carrier is provided with a hollow shaft
which runs coaxially to the rotational axis and to which the
receiving tools are fitted. Compressed air can be conveyed through
the hollow shaft of the carrier to the Venturi tubes so that the
vacuum required for receiving and holding the components to be
mounted in the receiving tools can be generated. This offers the
advantage that only very short vacuum lines are required between
the vacuum generator and the receiving tool as a result of which
vacuum losses are avoided and a constant vacuum level is made
possible in the respective receiving tools. In addition, the
separate vacuum supply of the respective receiving tools offers the
advantage that when a component drops from a receiving tool; the
vacuum level in the remaining receiving tools does not change.
[0013] In addition, the atmospheric air pressure can be adapted by
means of a uniform compressed air supply to all the receiving
tools. This involves the compressed air supply of the vacuum
generator of the receiving tools being provided with a proportional
valve by means of which the supply pressure can be adjusted
depending on the atmospheric pressure. The higher the atmospheric
air pressure, the lower the selection of the supply air pressure.
The result is that the air consumption is considerably reduced
especially at sea level. In addition, the mounting reliability is
improved by a constant air pressure and thereby a constant vacuum
level in the receiving tools.
[0014] In addition, according to the invention the multiple
insertion head can have a blast air vacuum device which makes
possible to supply receiving tools, in a receiving mounting
position of the carrier, with a vacuum when receiving the
components and, when mounting the components, with a blast air
impulse. Because of this, using a vacuum level in the receiving
tools which is suitable for receiving the components is possible on
the one hand and, on the other hand, an accelerated mounting of the
components to be mounted by means of a blast air impulse is
possible.
[0015] The blast air vacuum device can, for example, have a Venturi
tube whose exit on the air outlet side can be closed by means of a
valve. When the air outlet side of the Venturi tube is closed for a
short while, a vacuum is not generated, but a blast air impulse is
output. In addition, a pressure sensor can be provided in this case
which makes possible a regulated closing of the air outlet side of
the Venturi tube so that the pressure level can be set as
desired.
[0016] The receiving tools for example have a tool shaft embodied
as a hollow shaft which runs coaxially to the tool axis. The
applied vacuum or blast air impulse can be conveyed through this
hollow shaft to the distal end area of the tool shafts by means of
the vacuum generator provided in the receiving tool and/or by means
of the blast air vacuum device in the receiving tool. Here, vacuum
pipettes are provided which, for example, suck in the components
which are to be mounted.
[0017] Because the carrier is fitted to the multiple insertion head
in such a way that it can rotate, a rotationally symmetrical energy
and data transmission device is required by means of which the
active drives and/or sensors can be supplied with energy as well as
by means of which the data of the sensors can be transmitted. In
this case, a first transmitter part is permanently fitted to the
housing of the multiple insertion head and a second transmitter
part is permanently fitted to the carrier which can rotate. The
energy and data transmission device is for example provided with at
least one slip ring by means of which both energy and data can be
transmitted. However, it is also for example possible in each case
to provide one pair of electrical inductive transmitters and one
pair of capacitive transmitters which are in each case arranged
rotationally symmetrical around the rotational axis of the multiple
insertion head and by means of which both the energy and the data
can be transmitted without contact. This offers the advantage of a
wear-free energy and data transmission.
[0018] In this case the capacitive transmitter is, in particular,
embodied as a plate-shaped antenna in each case in the first
transmitter part and in the second transmitter part. In the first
transmitter part the electromagnetic transmitter can have a
circular magnetically conductive body with a u-shaped cross section
open in the direction of the carrier as well as in the second
transmitter part a circular magnetically conductive body with, in
essence, a rectangular cross section which is arranged in such a
way in the opening of the first transmitter part that the direction
of the magnetic field used for the transmission of energy is,
essentially, at right angles to the direction of the electrical
field used for the transmission of data. This offers the advantage
of a compact-design non-contact energy and data transmission in
which there is essentially no interference field.
[0019] On the housing of the multiple insertion head as well as on
the carrier, polished disks can in each case be provided such that
a rotationally symmetrical transmission of compressed air and a
vacuum is possible in all the positions of the receiving tools or
in selected positions of the receiving tools. A selected position
of the receiving tools is for example the receiving mounting
position.
[0020] On the carrier at least one control unit can be provided by
means of which the active drives or sensors can be controlled. For
this purpose, a signal processor can be used in each case for one
or a plurality of the active drives or sensors.
[0021] This allows decentralized processing of control data or
sensor data, with the amount of data to be transmitted via the
rotationally symmetrical energy and data transmission device being
reduced. Consequently, the speed of the multiple insertion head can
be increased.
[0022] In order to make it possible for the receiving tools to move
in the mounting direction, a linear motor is for example provided
as the linear drive by means of which each receiving tool is
engaged and which is in the receiving mounting position.
Consequently, the receiving tool in the receiving mounting position
can be moved by means of the linear motor in the mounting
direction.
[0023] Using a linear motor for moving the component to be mounted
in the mounting direction offers the advantages of a more precise
positioning, reducing the moved mass as well as shorter
displacement times.
[0024] In the multiple insertion head, additional retracting means
can be provided by means of which the rotor of the linear motor is
pretensioned by a spring tension against the force of gravity and
in the case of which this pretensioning is compensated for by means
of compressed air when operating the insertion head. Because of
this it is ensured that in the case of a power supply interruption,
the rotor of the linear motor does not slide down in an
uncontrollable manner allowing damage to the multiple insertion
head to be avoided as the multiple insertion head is moved over the
mounting plane.
[0025] For example, the rotational axis of the multiple insertion
head must be arranged at an angle to the mounting plane so that the
receiving tool located at the mounting position is arranged at
right angles to the mounting plane. Because of the cone-shaped
arrangement of the receiving tools in the multiple insertion head
it is possible to arrange a component camera in such a way that it
is opposite and facing the mounting position and that a subarea of
the optical system of the component camera can be positioned below
the components received in the receiving tool in the mounting
position. Because of this it is possible to determine both the
correct position of the received component in the receiving tool
and the height of the component.
[0026] The invention is described in more detail with reference to
the drawings. They are as follows:
[0027] FIG. 1 a sectional view from the side of a preferred
embodiment of the multiple insertion head according to the
invention, and FIG. 2 a partly perspective view of the preferred
embodiment of the multiple insertion head according to the
invention.
[0028] As can be seen in FIGS. 1 and 2, a preferred embodiment of
the multiple insertion head according to the invention has a rotary
drive 100 with a drive shaft 110 which runs along the rotational
axis D of the carrier 200 according to the preferred embodiment. In
the connecting area of the carrier 200 in the drive shaft 110, at
least one pair of polished disks 150, 250 is provided. In this
case, the polished disk 150 is connected with the housing of the
rotary drive 100. The polished disk 250 is fitted to the side of
the carrier 200 facing the rotary drive 100 in order to be able to
forward the compressed air fed through the drive shaft 110 to one
or a plurality of the receiving tools 210. In order to be able to
forward compressed air through the drive shaft 110 to the receiving
tools 210, the drive shaft 110 is embodied as a hollow shaft as can
be seen in FIG. 1.
[0029] In addition, openings are made in the top side of the
polished disk 250 on the air outlet side through which compressed
air can be conveyed separately on the carrier 200 for each
receiving tool in order to be able to generate a vacuum for the
specific receiving tool 210 by means of its vacuum generator. In
this case, the carrier for each receiving tool 210 has a Venturi
nozzle 220 which is supplied with compressed air through the drive
shaft 110 and the polished disks 150 and 250 in order to generate a
vacuum and to be able to forward this to the respective tool shafts
215.
[0030] In the end range of the carrier 200 away from the rotary
drive 100, a cap 235 is provided by means of which the spent air of
a plurality of Venturi nozzles 220 is diverted and conveyed for
cooling past the receiving tools 210. This allows a separate
cooling apparatus for cooling the rotary drives in the receiving
tools 210 to be dispensed with.
[0031] The carrier i, essentially designed rotationally symmetrical
and has a truncated cone-shaped body in which case in the
peripheral area of the truncated cone, the receiving tools 210 are
fitted in such a way that they are distributed uniformly. In each
case, by means of a linear guide, each receiving tool 210 is
arranged in such a way that it can be moved linearly in the
mounting direction which is tangential to the peripheral area of
the carrier 210. The receiving tools 210 are in each case provided
with an engaging element 212 which is in each case supported in a
race 120 arranged concentrically to the rotational axis D.
[0032] The race 120 is permanently fitted to a housing of the
multiple insertion head so that it can be used as the circular
guide for the receiving tools 210. In a receiving mounting position
A, the race 120 is interrupted for the width of the engaging
element 212. This allows a linear drive 500 with an engaging piece
510, provided on the housing of the multiple insertion head, which
is permanently fitted to its runner 520 to engage in the engaging
element 212 and the corresponding receiving tool which is in the
receiving mounting position (A) to move linearly in the mounting
direction in order to take components 300 from the feeding devices
and/or for positioning components 300 onto substrates. The
components 300 are for example sucked in the vacuum pipettes 260 by
means of a vacuum, which are fitted in the receiving tools 210 to
their distal end area in each case.
[0033] Each receiving tool 210 has a tool shaft 215 embodied as a
hollow shaft to which the vacuum pipette 260 is fitted. Here, the
vacuum pipette 260 is in each case arranged both flexible and
vacuum-tight in the receiving tool 210 in the direction of the tool
axis of the tool shaft 215. In addition, each receiving tool has
its own electrical rotary drive 228 which is connected with the
tool shaft 215 as well as an angle sensor 217 for the rotary drive
228. The angle sensor 217 together with the rotary drive 228 and an
evaluation electronics system 230 which is likewise fitted to the
carrier 200, form a closed-loop control circuit for detecting the
rotations of the vacuum pipettes 260 and consequently the
components 300.
[0034] According to the preferred embodiment of the invention, to
transmit energy and data between the housing of the multiple
insertion head and the carrier 200, on the one hand, one or a
plurality of slip rings can be provided between the rotary drive
100 and the carrier 200 (not shown).
[0035] However, it is also possible for a non-contact energy and
data transmission to be provided between the rotary drive 100 and
the carrier 200. In this case, as can be seen in FIG. 1, in the
rotary drive 100, a first transmitter part is arranged with a
circular body of a magnetically conductive material 410 with a
u-shaped cross-section in which case the hollow section arising as
a result of the u-shaped cross section is embodied open towards the
carrier 200. In addition, a coil (not shown) is provided which is
in electromagnetic interaction with the circular body 410. In
addition, a plate-shaped rotationally symmetrical antenna 415 is
provided in the rotary drive 100 in the vicinity of the circular
body 410, said antenna in any case embodied in ring format.
[0036] On the carrier 200, an antenna 425 corresponding to the
plate-shaped antenna 415 of drive 100 is provided. In addition, on
the carrier in the area facing the rotary drive 100, a second
transmitter part is provided with a circular magnetically
conductive body 420 with a rectangular cross section which, in the
hollow section brought about by the u-shaped cross section of the
circular body 410 together with the plate-shaped antenna 420
relative to the rotary drive 100, is fitted in such a way that it
can rotate and also permanently to the carrier 200. In addition, on
the carrier 200, a coil (not shown) is provided which is in
electromagnetic interaction with the circular body 420.
[0037] Consequently, independent of the rotary motion of the
carrier 200 relative to the rotary drive 100, it is at any time
possible to transmit energy from the rotary drive 100 to the
carrier 200 via the coils and the circular body 410 or 420. In
addition, independent of the rotation of the carrier 200 relative
to the rotary drive 100, data can likewise be exchanged in both
directions between the rotary drive 100 and the carrier 200 via the
two antennas 415 or 425.
[0038] The transmitted data and energy are used for activating the
rotary drives of the receiving tools 210 connected with the rotary
drives of the receiving tools and the rotary sensors 217 of the
receiving tools 210. For this purpose, a control unit 230 is for
example provided for each receiving tool 210, said control unit
having a digital signal processor in particular. However, it is
also possible to provide on the carrier 200 only one or a limited
number of control units 230 and in each case to control a plurality
of receiving tools 210 or all the receiving tools 210 by a single
digital signal processor.
[0039] In the receiving mounting position A in which the receiving
tool 210 located there can be moved by means of the engaging
element 212 in the mounting direction by the linear drive 500, it
is also possible by means of a polished disk (not shown)
permissible in this position for the specific receiving tool 210 on
the carrier 200; said polished disk being arranged between the
rotary drive 100 and the carrier 200, to feed in addition a vacuum
or compressed air through the vacuum lines 225.
[0040] For this, an additional vacuum generator is used (not shown)
which, in the receiving mounting position, is connected via the
additional polished disk with the vacuum line 225 of that receiving
tool 210 which is in the receiving mounting position. This
additional vacuum generator can for example be a Venturi tube which
on the air outlet side can be closed by means of a proportional
valve. By opening the valve to different degrees, the vacuum level
can be set on the receiving tool 210 as desired.
[0041] This enables components 300 to be fetched safely from the
feed devices (not shown). For this purpose, the multiple insertion
head with the vacuum pipette 260 of the receiving tool 210 located
in the receiving mounting position moves over the component 300 to
be removed in the feeding device and subsequently lowered by means
of the linear drive onto the component 300. Switching on the
additional vacuum makes it possible for the component to be removed
safely.
[0042] When the received components 300 are placed, the additional
vacuum generator in the receiving mounting position makes it
possible to send a compressed air impulse to the receiving tool 210
located in the receiving mounting position over which the applied
vacuum is blown so that the component 300 to be, mounted is pushed
away from the receiving tool 210 onto a substrate (not shown) to be
mounted.
* * * * *